<HTML>
<BODY BGCOLOR="white">
<PRE>
<FONT color="green">001</FONT>    package maze.ai;<a name="line.1"></a>
<FONT color="green">002</FONT>    <a name="line.2"></a>
<FONT color="green">003</FONT>    import java.awt.Dimension;<a name="line.3"></a>
<FONT color="green">004</FONT>    import java.util.ArrayList;<a name="line.4"></a>
<FONT color="green">005</FONT>    import java.util.Vector;<a name="line.5"></a>
<FONT color="green">006</FONT>    <a name="line.6"></a>
<FONT color="green">007</FONT>    import maze.model.Direction;<a name="line.7"></a>
<FONT color="green">008</FONT>    import maze.model.MazeCell;<a name="line.8"></a>
<FONT color="green">009</FONT>    import maze.model.MazeModel;<a name="line.9"></a>
<FONT color="green">010</FONT>    import maze.model.RobotModel;<a name="line.10"></a>
<FONT color="green">011</FONT>    <a name="line.11"></a>
<FONT color="green">012</FONT>    /**<a name="line.12"></a>
<FONT color="green">013</FONT>     * A maze solving algorithm that does a best path search after each step.<a name="line.13"></a>
<FONT color="green">014</FONT>     */<a name="line.14"></a>
<FONT color="green">015</FONT>    public class Floodfill extends RobotBase<a name="line.15"></a>
<FONT color="green">016</FONT>    {<a name="line.16"></a>
<FONT color="green">017</FONT>       private int[][] distance;<a name="line.17"></a>
<FONT color="green">018</FONT>       private boolean[][] explored;<a name="line.18"></a>
<FONT color="green">019</FONT>       private ArrayList&lt;RobotStep&gt; moveQueue = new ArrayList&lt;RobotStep&gt;();<a name="line.19"></a>
<FONT color="green">020</FONT>       private boolean turbo = false;<a name="line.20"></a>
<FONT color="green">021</FONT>       private static final int USELESS = 1024;<a name="line.21"></a>
<FONT color="green">022</FONT>       private MazeModel maze = new MazeModel();<a name="line.22"></a>
<FONT color="green">023</FONT>       private boolean goal;<a name="line.23"></a>
<FONT color="green">024</FONT>       private static final boolean TO_CENTER = true;<a name="line.24"></a>
<FONT color="green">025</FONT>       private static final boolean TO_START = false;<a name="line.25"></a>
<FONT color="green">026</FONT>       private boolean speedRunCapable;<a name="line.26"></a>
<FONT color="green">027</FONT>    <a name="line.27"></a>
<FONT color="green">028</FONT>       /**<a name="line.28"></a>
<FONT color="green">029</FONT>        * Returns a string describing this class<a name="line.29"></a>
<FONT color="green">030</FONT>        */<a name="line.30"></a>
<FONT color="green">031</FONT>       @Override<a name="line.31"></a>
<FONT color="green">032</FONT>       public String toString()<a name="line.32"></a>
<FONT color="green">033</FONT>       {<a name="line.33"></a>
<FONT color="green">034</FONT>          return "Flood Fill";<a name="line.34"></a>
<FONT color="green">035</FONT>       }<a name="line.35"></a>
<FONT color="green">036</FONT>    <a name="line.36"></a>
<FONT color="green">037</FONT>       /**<a name="line.37"></a>
<FONT color="green">038</FONT>        * Initializes the algorithm for use. This should be called before any run is<a name="line.38"></a>
<FONT color="green">039</FONT>        * started.<a name="line.39"></a>
<FONT color="green">040</FONT>        */<a name="line.40"></a>
<FONT color="green">041</FONT>       public void initialize()<a name="line.41"></a>
<FONT color="green">042</FONT>       {<a name="line.42"></a>
<FONT color="green">043</FONT>          super.initialize();<a name="line.43"></a>
<FONT color="green">044</FONT>          moveQueue.clear();<a name="line.44"></a>
<FONT color="green">045</FONT>          maze.setSize(robotLocation.getMazeSize());<a name="line.45"></a>
<FONT color="green">046</FONT>          maze.clearMaze();<a name="line.46"></a>
<FONT color="green">047</FONT>          Dimension size = maze.getSize();<a name="line.47"></a>
<FONT color="green">048</FONT>          if (distance == null)<a name="line.48"></a>
<FONT color="green">049</FONT>          {<a name="line.49"></a>
<FONT color="green">050</FONT>             distance = new int[size.width][size.height];<a name="line.50"></a>
<FONT color="green">051</FONT>             explored = new boolean[size.width][size.height];<a name="line.51"></a>
<FONT color="green">052</FONT>          }<a name="line.52"></a>
<FONT color="green">053</FONT>          for (int i = 0; i &lt; size.getWidth(); i++)<a name="line.53"></a>
<FONT color="green">054</FONT>          {<a name="line.54"></a>
<FONT color="green">055</FONT>             for (int j = 0; j &lt; size.getHeight(); j++)<a name="line.55"></a>
<FONT color="green">056</FONT>             {<a name="line.56"></a>
<FONT color="green">057</FONT>                distance[i][j] = USELESS;<a name="line.57"></a>
<FONT color="green">058</FONT>                explored[i][j] = false;<a name="line.58"></a>
<FONT color="green">059</FONT>             }<a name="line.59"></a>
<FONT color="green">060</FONT>          }<a name="line.60"></a>
<FONT color="green">061</FONT>          goal = TO_CENTER;<a name="line.61"></a>
<FONT color="green">062</FONT>          speedRunCapable = false;<a name="line.62"></a>
<FONT color="green">063</FONT>       }<a name="line.63"></a>
<FONT color="green">064</FONT>    <a name="line.64"></a>
<FONT color="green">065</FONT>       /**<a name="line.65"></a>
<FONT color="green">066</FONT>        * Returns the next step that the robot should take. This is called by the<a name="line.66"></a>
<FONT color="green">067</FONT>        * controller.<a name="line.67"></a>
<FONT color="green">068</FONT>        */<a name="line.68"></a>
<FONT color="green">069</FONT>       @Override<a name="line.69"></a>
<FONT color="green">070</FONT>       public RobotStep nextStep()<a name="line.70"></a>
<FONT color="green">071</FONT>       {<a name="line.71"></a>
<FONT color="green">072</FONT>          RobotStep next;<a name="line.72"></a>
<FONT color="green">073</FONT>          Direction nextDirection;<a name="line.73"></a>
<FONT color="green">074</FONT>          Direction currentDirection = robotLocation.getDirection();<a name="line.74"></a>
<FONT color="green">075</FONT>          if (moveQueue.isEmpty())<a name="line.75"></a>
<FONT color="green">076</FONT>          {<a name="line.76"></a>
<FONT color="green">077</FONT>             if (getExplored() == false)<a name="line.77"></a>
<FONT color="green">078</FONT>             {<a name="line.78"></a>
<FONT color="green">079</FONT>                checkWalls();<a name="line.79"></a>
<FONT color="green">080</FONT>                setExplored();<a name="line.80"></a>
<FONT color="green">081</FONT>             }<a name="line.81"></a>
<FONT color="green">082</FONT>             if (atGoal() == true)<a name="line.82"></a>
<FONT color="green">083</FONT>             {<a name="line.83"></a>
<FONT color="green">084</FONT>                if ( (goal == TO_CENTER) &amp;&amp; (speedRunCapable == false))<a name="line.84"></a>
<FONT color="green">085</FONT>                {<a name="line.85"></a>
<FONT color="green">086</FONT>                   speedRunCapable = true;<a name="line.86"></a>
<FONT color="green">087</FONT>                   blockOutCenter();<a name="line.87"></a>
<FONT color="green">088</FONT>                }<a name="line.88"></a>
<FONT color="green">089</FONT>                goal = !goal;<a name="line.89"></a>
<FONT color="green">090</FONT>                floodfill();<a name="line.90"></a>
<FONT color="green">091</FONT>             }<a name="line.91"></a>
<FONT color="green">092</FONT>             nextDirection = getBestDirection();<a name="line.92"></a>
<FONT color="green">093</FONT>             turbo = getNeighborExplored(nextDirection);<a name="line.93"></a>
<FONT color="green">094</FONT>             if (nextDirection == currentDirection)<a name="line.94"></a>
<FONT color="green">095</FONT>             {<a name="line.95"></a>
<FONT color="green">096</FONT>                next = RobotStep.MoveForward;<a name="line.96"></a>
<FONT color="green">097</FONT>             }<a name="line.97"></a>
<FONT color="green">098</FONT>             else if (nextDirection == currentDirection.getLeft())<a name="line.98"></a>
<FONT color="green">099</FONT>             {<a name="line.99"></a>
<FONT color="green">100</FONT>                next = RobotStep.RotateLeft;<a name="line.100"></a>
<FONT color="green">101</FONT>                moveQueue.add(RobotStep.MoveForward);<a name="line.101"></a>
<FONT color="green">102</FONT>             }<a name="line.102"></a>
<FONT color="green">103</FONT>             else if (nextDirection == currentDirection.getRight())<a name="line.103"></a>
<FONT color="green">104</FONT>             {<a name="line.104"></a>
<FONT color="green">105</FONT>                next = RobotStep.RotateRight;<a name="line.105"></a>
<FONT color="green">106</FONT>                moveQueue.add(RobotStep.MoveForward);<a name="line.106"></a>
<FONT color="green">107</FONT>             }<a name="line.107"></a>
<FONT color="green">108</FONT>             else<a name="line.108"></a>
<FONT color="green">109</FONT>             // if(nextDirection == currentDirection.getOpposite())<a name="line.109"></a>
<FONT color="green">110</FONT>             {<a name="line.110"></a>
<FONT color="green">111</FONT>                next = RobotStep.MoveBackward;<a name="line.111"></a>
<FONT color="green">112</FONT>             }<a name="line.112"></a>
<FONT color="green">113</FONT>          }<a name="line.113"></a>
<FONT color="green">114</FONT>          else<a name="line.114"></a>
<FONT color="green">115</FONT>          {<a name="line.115"></a>
<FONT color="green">116</FONT>             next = moveQueue.get(0);<a name="line.116"></a>
<FONT color="green">117</FONT>             moveQueue.remove(0);<a name="line.117"></a>
<FONT color="green">118</FONT>          }<a name="line.118"></a>
<FONT color="green">119</FONT>          return next;<a name="line.119"></a>
<FONT color="green">120</FONT>       }<a name="line.120"></a>
<FONT color="green">121</FONT>    <a name="line.121"></a>
<FONT color="green">122</FONT>       /**<a name="line.122"></a>
<FONT color="green">123</FONT>        * Returns the explored flag of the current location's neighbor in the given<a name="line.123"></a>
<FONT color="green">124</FONT>        * direction.<a name="line.124"></a>
<FONT color="green">125</FONT>        */<a name="line.125"></a>
<FONT color="green">126</FONT>       private boolean getNeighborExplored(Direction direction)<a name="line.126"></a>
<FONT color="green">127</FONT>       {<a name="line.127"></a>
<FONT color="green">128</FONT>          MazeCell neighbor;<a name="line.128"></a>
<FONT color="green">129</FONT>          MazeCell here = robotLocation.getCurrentLocation();<a name="line.129"></a>
<FONT color="green">130</FONT>          Dimension size = maze.getSize();<a name="line.130"></a>
<FONT color="green">131</FONT>          if ( (direction == Direction.North) &amp;&amp; (here.getY() != 1))<a name="line.131"></a>
<FONT color="green">132</FONT>          {<a name="line.132"></a>
<FONT color="green">133</FONT>             neighbor = new MazeCell(here.getX(), here.getY() - 1);<a name="line.133"></a>
<FONT color="green">134</FONT>          }<a name="line.134"></a>
<FONT color="green">135</FONT>          else if ( (direction == Direction.South) &amp;&amp; (here.getY() != size.getHeight()))<a name="line.135"></a>
<FONT color="green">136</FONT>          {<a name="line.136"></a>
<FONT color="green">137</FONT>             neighbor = new MazeCell(here.getX(), here.getY() + 1);<a name="line.137"></a>
<FONT color="green">138</FONT>          }<a name="line.138"></a>
<FONT color="green">139</FONT>          else if ( (direction == Direction.East) &amp;&amp; (here.getX() != size.getWidth()))<a name="line.139"></a>
<FONT color="green">140</FONT>          {<a name="line.140"></a>
<FONT color="green">141</FONT>             neighbor = new MazeCell(here.getX() + 1, here.getY());<a name="line.141"></a>
<FONT color="green">142</FONT>          }<a name="line.142"></a>
<FONT color="green">143</FONT>          else if ( (direction == Direction.West) &amp;&amp; (here.getX() != 1))<a name="line.143"></a>
<FONT color="green">144</FONT>          {<a name="line.144"></a>
<FONT color="green">145</FONT>             neighbor = new MazeCell(here.getX() - 1, here.getY());<a name="line.145"></a>
<FONT color="green">146</FONT>          }<a name="line.146"></a>
<FONT color="green">147</FONT>          else<a name="line.147"></a>
<FONT color="green">148</FONT>          {<a name="line.148"></a>
<FONT color="green">149</FONT>             return false;<a name="line.149"></a>
<FONT color="green">150</FONT>          }<a name="line.150"></a>
<FONT color="green">151</FONT>    <a name="line.151"></a>
<FONT color="green">152</FONT>          return getExplored(neighbor);<a name="line.152"></a>
<FONT color="green">153</FONT>       }<a name="line.153"></a>
<FONT color="green">154</FONT>    <a name="line.154"></a>
<FONT color="green">155</FONT>       /**<a name="line.155"></a>
<FONT color="green">156</FONT>        * Returns the explored flag of the given location's neighbor.<a name="line.156"></a>
<FONT color="green">157</FONT>        */<a name="line.157"></a>
<FONT color="green">158</FONT>       private boolean getNeighborExplored(MazeCell here, Direction direction)<a name="line.158"></a>
<FONT color="green">159</FONT>       {<a name="line.159"></a>
<FONT color="green">160</FONT>          MazeCell neighbor;<a name="line.160"></a>
<FONT color="green">161</FONT>          Dimension size = maze.getSize();<a name="line.161"></a>
<FONT color="green">162</FONT>          if ( (direction == Direction.North) &amp;&amp; (here.getY() != 1))<a name="line.162"></a>
<FONT color="green">163</FONT>          {<a name="line.163"></a>
<FONT color="green">164</FONT>             neighbor = new MazeCell(here.getX(), here.getY() - 1);<a name="line.164"></a>
<FONT color="green">165</FONT>          }<a name="line.165"></a>
<FONT color="green">166</FONT>          else if ( (direction == Direction.South) &amp;&amp; (here.getY() != size.getHeight()))<a name="line.166"></a>
<FONT color="green">167</FONT>          {<a name="line.167"></a>
<FONT color="green">168</FONT>             neighbor = new MazeCell(here.getX(), here.getY() + 1);<a name="line.168"></a>
<FONT color="green">169</FONT>          }<a name="line.169"></a>
<FONT color="green">170</FONT>          else if ( (direction == Direction.East) &amp;&amp; (here.getX() != size.getWidth()))<a name="line.170"></a>
<FONT color="green">171</FONT>          {<a name="line.171"></a>
<FONT color="green">172</FONT>             neighbor = new MazeCell(here.getX() + 1, here.getY());<a name="line.172"></a>
<FONT color="green">173</FONT>          }<a name="line.173"></a>
<FONT color="green">174</FONT>          else if ( (direction == Direction.West) &amp;&amp; (here.getX() != 1))<a name="line.174"></a>
<FONT color="green">175</FONT>          {<a name="line.175"></a>
<FONT color="green">176</FONT>             neighbor = new MazeCell(here.getX() - 1, here.getY());<a name="line.176"></a>
<FONT color="green">177</FONT>          }<a name="line.177"></a>
<FONT color="green">178</FONT>          else<a name="line.178"></a>
<FONT color="green">179</FONT>          {<a name="line.179"></a>
<FONT color="green">180</FONT>             return false;<a name="line.180"></a>
<FONT color="green">181</FONT>          }<a name="line.181"></a>
<FONT color="green">182</FONT>    <a name="line.182"></a>
<FONT color="green">183</FONT>          return getExplored(neighbor);<a name="line.183"></a>
<FONT color="green">184</FONT>       }<a name="line.184"></a>
<FONT color="green">185</FONT>    <a name="line.185"></a>
<FONT color="green">186</FONT>       /**<a name="line.186"></a>
<FONT color="green">187</FONT>        * Returns the explored flag of the given location.<a name="line.187"></a>
<FONT color="green">188</FONT>        */<a name="line.188"></a>
<FONT color="green">189</FONT>       private boolean getExplored(MazeCell cell)<a name="line.189"></a>
<FONT color="green">190</FONT>       {<a name="line.190"></a>
<FONT color="green">191</FONT>          return explored[cell.getX() - 1][cell.getY() - 1];<a name="line.191"></a>
<FONT color="green">192</FONT>       }<a name="line.192"></a>
<FONT color="green">193</FONT>    <a name="line.193"></a>
<FONT color="green">194</FONT>       /**<a name="line.194"></a>
<FONT color="green">195</FONT>        * Returns the explored flag of the current location.<a name="line.195"></a>
<FONT color="green">196</FONT>        */<a name="line.196"></a>
<FONT color="green">197</FONT>       private boolean getExplored()<a name="line.197"></a>
<FONT color="green">198</FONT>       {<a name="line.198"></a>
<FONT color="green">199</FONT>          return getExplored(robotLocation.getCurrentLocation());<a name="line.199"></a>
<FONT color="green">200</FONT>       }<a name="line.200"></a>
<FONT color="green">201</FONT>    <a name="line.201"></a>
<FONT color="green">202</FONT>       /**<a name="line.202"></a>
<FONT color="green">203</FONT>        * Sets the explored flag of the current location to true.<a name="line.203"></a>
<FONT color="green">204</FONT>        */<a name="line.204"></a>
<FONT color="green">205</FONT>       private void setExplored()<a name="line.205"></a>
<FONT color="green">206</FONT>       {<a name="line.206"></a>
<FONT color="green">207</FONT>          explored[robotLocation.getCurrentLocation().getX() - 1][robotLocation.getCurrentLocation().getY() - 1] = true;<a name="line.207"></a>
<FONT color="green">208</FONT>       }<a name="line.208"></a>
<FONT color="green">209</FONT>    <a name="line.209"></a>
<FONT color="green">210</FONT>       /**<a name="line.210"></a>
<FONT color="green">211</FONT>        * Returns the best direction to go, according to Floodfill, from the current<a name="line.211"></a>
<FONT color="green">212</FONT>        * MazeCell. This algorithm biases in the following order: Straight, North,<a name="line.212"></a>
<FONT color="green">213</FONT>        * East, West, South<a name="line.213"></a>
<FONT color="green">214</FONT>        */<a name="line.214"></a>
<FONT color="green">215</FONT>       private Direction getBestDirection()<a name="line.215"></a>
<FONT color="green">216</FONT>       {<a name="line.216"></a>
<FONT color="green">217</FONT>          MazeCell here = robotLocation.getCurrentLocation();<a name="line.217"></a>
<FONT color="green">218</FONT>          int bestDistance = getDistance(here);<a name="line.218"></a>
<FONT color="green">219</FONT>          Direction bestDirection = null;<a name="line.219"></a>
<FONT color="green">220</FONT>    <a name="line.220"></a>
<FONT color="green">221</FONT>          if ( (bestDistance &gt; getNeighborDistance(here, robotLocation.getDirection())) &amp;&amp;<a name="line.221"></a>
<FONT color="green">222</FONT>              (robotLocation.isWallFront() == false))<a name="line.222"></a>
<FONT color="green">223</FONT>          {<a name="line.223"></a>
<FONT color="green">224</FONT>             bestDirection = robotLocation.getDirection();<a name="line.224"></a>
<FONT color="green">225</FONT>             bestDistance = getNeighborDistance(here, bestDirection);<a name="line.225"></a>
<FONT color="green">226</FONT>          }<a name="line.226"></a>
<FONT color="green">227</FONT>    <a name="line.227"></a>
<FONT color="green">228</FONT>          if ( (bestDistance &gt; getNeighborDistance(here, Direction.North)) &amp;&amp;<a name="line.228"></a>
<FONT color="green">229</FONT>              (maze.getWall(here, Direction.North).isSet() == false))<a name="line.229"></a>
<FONT color="green">230</FONT>          {<a name="line.230"></a>
<FONT color="green">231</FONT>             bestDirection = Direction.North;<a name="line.231"></a>
<FONT color="green">232</FONT>             bestDistance = getNeighborDistance(here, bestDirection);<a name="line.232"></a>
<FONT color="green">233</FONT>          }<a name="line.233"></a>
<FONT color="green">234</FONT>          if ( (bestDistance &gt; getNeighborDistance(here, Direction.East)) &amp;&amp;<a name="line.234"></a>
<FONT color="green">235</FONT>              (maze.getWall(here, Direction.East).isSet() == false))<a name="line.235"></a>
<FONT color="green">236</FONT>          {<a name="line.236"></a>
<FONT color="green">237</FONT>             bestDirection = Direction.East;<a name="line.237"></a>
<FONT color="green">238</FONT>             bestDistance = getNeighborDistance(here, bestDirection);<a name="line.238"></a>
<FONT color="green">239</FONT>          }<a name="line.239"></a>
<FONT color="green">240</FONT>          if ( (bestDistance &gt; getNeighborDistance(here, Direction.West)) &amp;&amp;<a name="line.240"></a>
<FONT color="green">241</FONT>              (maze.getWall(here, Direction.West).isSet() == false))<a name="line.241"></a>
<FONT color="green">242</FONT>          {<a name="line.242"></a>
<FONT color="green">243</FONT>             bestDirection = Direction.West;<a name="line.243"></a>
<FONT color="green">244</FONT>             bestDistance = getNeighborDistance(here, bestDirection);<a name="line.244"></a>
<FONT color="green">245</FONT>          }<a name="line.245"></a>
<FONT color="green">246</FONT>          if ( (bestDistance &gt; getNeighborDistance(here, Direction.South)) &amp;&amp;<a name="line.246"></a>
<FONT color="green">247</FONT>              (maze.getWall(here, Direction.South).isSet() == false))<a name="line.247"></a>
<FONT color="green">248</FONT>          {<a name="line.248"></a>
<FONT color="green">249</FONT>             bestDirection = Direction.South;<a name="line.249"></a>
<FONT color="green">250</FONT>             bestDistance = getNeighborDistance(here, bestDirection);<a name="line.250"></a>
<FONT color="green">251</FONT>          }<a name="line.251"></a>
<FONT color="green">252</FONT>    <a name="line.252"></a>
<FONT color="green">253</FONT>          if (bestDirection == null)<a name="line.253"></a>
<FONT color="green">254</FONT>          {<a name="line.254"></a>
<FONT color="green">255</FONT>             floodfill();<a name="line.255"></a>
<FONT color="green">256</FONT>             return getBestDirection();<a name="line.256"></a>
<FONT color="green">257</FONT>          }<a name="line.257"></a>
<FONT color="green">258</FONT>          else<a name="line.258"></a>
<FONT color="green">259</FONT>          {<a name="line.259"></a>
<FONT color="green">260</FONT>             return bestDirection;<a name="line.260"></a>
<FONT color="green">261</FONT>          }<a name="line.261"></a>
<FONT color="green">262</FONT>       }<a name="line.262"></a>
<FONT color="green">263</FONT>    <a name="line.263"></a>
<FONT color="green">264</FONT>       /**<a name="line.264"></a>
<FONT color="green">265</FONT>        * Returns the distance of the MazeCell adjacent to the passed MazeCell and<a name="line.265"></a>
<FONT color="green">266</FONT>        * is adjacent in the specified direction.<a name="line.266"></a>
<FONT color="green">267</FONT>        */<a name="line.267"></a>
<FONT color="green">268</FONT>       private int getNeighborDistance(MazeCell here, Direction direction)<a name="line.268"></a>
<FONT color="green">269</FONT>       {<a name="line.269"></a>
<FONT color="green">270</FONT>          MazeCell neighbor;<a name="line.270"></a>
<FONT color="green">271</FONT>          Dimension size = maze.getSize();<a name="line.271"></a>
<FONT color="green">272</FONT>          if ( (direction == Direction.North) &amp;&amp; (here.getY() != 1))<a name="line.272"></a>
<FONT color="green">273</FONT>          {<a name="line.273"></a>
<FONT color="green">274</FONT>             neighbor = new MazeCell(here.getX(), here.getY() - 1);<a name="line.274"></a>
<FONT color="green">275</FONT>          }<a name="line.275"></a>
<FONT color="green">276</FONT>          else if ( (direction == Direction.South) &amp;&amp; (here.getY() != size.getHeight()))<a name="line.276"></a>
<FONT color="green">277</FONT>          {<a name="line.277"></a>
<FONT color="green">278</FONT>             neighbor = new MazeCell(here.getX(), here.getY() + 1);<a name="line.278"></a>
<FONT color="green">279</FONT>          }<a name="line.279"></a>
<FONT color="green">280</FONT>          else if ( (direction == Direction.East) &amp;&amp; (here.getX() != size.getWidth()))<a name="line.280"></a>
<FONT color="green">281</FONT>          {<a name="line.281"></a>
<FONT color="green">282</FONT>             neighbor = new MazeCell(here.getX() + 1, here.getY());<a name="line.282"></a>
<FONT color="green">283</FONT>          }<a name="line.283"></a>
<FONT color="green">284</FONT>          else if ( (direction == Direction.West) &amp;&amp; (here.getX() != 1))<a name="line.284"></a>
<FONT color="green">285</FONT>          {<a name="line.285"></a>
<FONT color="green">286</FONT>             neighbor = new MazeCell(here.getX() - 1, here.getY());<a name="line.286"></a>
<FONT color="green">287</FONT>          }<a name="line.287"></a>
<FONT color="green">288</FONT>          else<a name="line.288"></a>
<FONT color="green">289</FONT>          {<a name="line.289"></a>
<FONT color="green">290</FONT>             return USELESS;<a name="line.290"></a>
<FONT color="green">291</FONT>          }<a name="line.291"></a>
<FONT color="green">292</FONT>    <a name="line.292"></a>
<FONT color="green">293</FONT>          return getDistance(neighbor);<a name="line.293"></a>
<FONT color="green">294</FONT>       }<a name="line.294"></a>
<FONT color="green">295</FONT>    <a name="line.295"></a>
<FONT color="green">296</FONT>       /**<a name="line.296"></a>
<FONT color="green">297</FONT>        * Returns the distance of the desired MazeCell<a name="line.297"></a>
<FONT color="green">298</FONT>        */<a name="line.298"></a>
<FONT color="green">299</FONT>       private int getDistance(MazeCell here)<a name="line.299"></a>
<FONT color="green">300</FONT>       {<a name="line.300"></a>
<FONT color="green">301</FONT>          return distance[here.getX() - 1][here.getY() - 1];<a name="line.301"></a>
<FONT color="green">302</FONT>       }<a name="line.302"></a>
<FONT color="green">303</FONT>    <a name="line.303"></a>
<FONT color="green">304</FONT>       /**<a name="line.304"></a>
<FONT color="green">305</FONT>        * Sets the distance of the desired MazeCell to the value provided<a name="line.305"></a>
<FONT color="green">306</FONT>        */<a name="line.306"></a>
<FONT color="green">307</FONT>       private void setDistance(MazeCell here, int value)<a name="line.307"></a>
<FONT color="green">308</FONT>       {<a name="line.308"></a>
<FONT color="green">309</FONT>          distance[here.getX() - 1][here.getY() - 1] = value;<a name="line.309"></a>
<FONT color="green">310</FONT>       }<a name="line.310"></a>
<FONT color="green">311</FONT>    <a name="line.311"></a>
<FONT color="green">312</FONT>       private void floodfill()<a name="line.312"></a>
<FONT color="green">313</FONT>       {<a name="line.313"></a>
<FONT color="green">314</FONT>          Dimension size = maze.getSize();<a name="line.314"></a>
<FONT color="green">315</FONT>          Vector&lt;MazeCell&gt; queue = new Vector&lt;MazeCell&gt;();<a name="line.315"></a>
<FONT color="green">316</FONT>          MazeCell cell;<a name="line.316"></a>
<FONT color="green">317</FONT>          int currentDistance;<a name="line.317"></a>
<FONT color="green">318</FONT>          boolean speedy;<a name="line.318"></a>
<FONT color="green">319</FONT>    <a name="line.319"></a>
<FONT color="green">320</FONT>          for (int i = 1; i &lt;= size.width; i++)<a name="line.320"></a>
<FONT color="green">321</FONT>          {<a name="line.321"></a>
<FONT color="green">322</FONT>             for (int j = 1; j &lt;= size.height; j++)<a name="line.322"></a>
<FONT color="green">323</FONT>             {<a name="line.323"></a>
<FONT color="green">324</FONT>                setDistance(new MazeCell(i, j), USELESS);<a name="line.324"></a>
<FONT color="green">325</FONT>             }<a name="line.325"></a>
<FONT color="green">326</FONT>          }<a name="line.326"></a>
<FONT color="green">327</FONT>    <a name="line.327"></a>
<FONT color="green">328</FONT>          if (goal == TO_START)<a name="line.328"></a>
<FONT color="green">329</FONT>          {<a name="line.329"></a>
<FONT color="green">330</FONT>             cell = new MazeCell(1, size.height);<a name="line.330"></a>
<FONT color="green">331</FONT>             setDistance(cell, 0);<a name="line.331"></a>
<FONT color="green">332</FONT>             queue.add(cell);<a name="line.332"></a>
<FONT color="green">333</FONT>             speedy = false;<a name="line.333"></a>
<FONT color="green">334</FONT>          }<a name="line.334"></a>
<FONT color="green">335</FONT>          else<a name="line.335"></a>
<FONT color="green">336</FONT>          {<a name="line.336"></a>
<FONT color="green">337</FONT>             int targetX = size.width / 2;<a name="line.337"></a>
<FONT color="green">338</FONT>             int targetY = size.height / 2;<a name="line.338"></a>
<FONT color="green">339</FONT>             cell = new MazeCell(targetX, targetY);<a name="line.339"></a>
<FONT color="green">340</FONT>             setDistance(cell, 0);<a name="line.340"></a>
<FONT color="green">341</FONT>             queue.add(cell);<a name="line.341"></a>
<FONT color="green">342</FONT>             cell = new MazeCell(targetX + 1, targetY);<a name="line.342"></a>
<FONT color="green">343</FONT>             setDistance(cell, 0);<a name="line.343"></a>
<FONT color="green">344</FONT>             queue.add(cell);<a name="line.344"></a>
<FONT color="green">345</FONT>             cell = new MazeCell(targetX, targetY + 1);<a name="line.345"></a>
<FONT color="green">346</FONT>             setDistance(cell, 0);<a name="line.346"></a>
<FONT color="green">347</FONT>             queue.add(cell);<a name="line.347"></a>
<FONT color="green">348</FONT>             cell = new MazeCell(targetX + 1, targetY + 1);<a name="line.348"></a>
<FONT color="green">349</FONT>             setDistance(cell, 0);<a name="line.349"></a>
<FONT color="green">350</FONT>             queue.add(cell);<a name="line.350"></a>
<FONT color="green">351</FONT>             if ( (speedRun == true) &amp;&amp; (speedRunCapable == true))<a name="line.351"></a>
<FONT color="green">352</FONT>             {<a name="line.352"></a>
<FONT color="green">353</FONT>                speedy = true;<a name="line.353"></a>
<FONT color="green">354</FONT>             }<a name="line.354"></a>
<FONT color="green">355</FONT>             else<a name="line.355"></a>
<FONT color="green">356</FONT>             {<a name="line.356"></a>
<FONT color="green">357</FONT>                speedy = false;<a name="line.357"></a>
<FONT color="green">358</FONT>             }<a name="line.358"></a>
<FONT color="green">359</FONT>          }<a name="line.359"></a>
<FONT color="green">360</FONT>    <a name="line.360"></a>
<FONT color="green">361</FONT>          while (queue.isEmpty() == false)<a name="line.361"></a>
<FONT color="green">362</FONT>          {<a name="line.362"></a>
<FONT color="green">363</FONT>             cell = queue.get(0);<a name="line.363"></a>
<FONT color="green">364</FONT>             queue.remove(0);<a name="line.364"></a>
<FONT color="green">365</FONT>             currentDistance = getDistance(cell);<a name="line.365"></a>
<FONT color="green">366</FONT>    <a name="line.366"></a>
<FONT color="green">367</FONT>             //Check to see if accessible<a name="line.367"></a>
<FONT color="green">368</FONT>             if (maze.getWall(cell, Direction.North).isSet() == false)<a name="line.368"></a>
<FONT color="green">369</FONT>             { //Check to see if it should be added to queue<a name="line.369"></a>
<FONT color="green">370</FONT>                if ( ( (currentDistance + 1) &lt; getNeighborDistance(cell, Direction.North)) &amp;&amp;<a name="line.370"></a>
<FONT color="green">371</FONT>                    ( (speedy == false) || (getNeighborExplored(cell, Direction.North) == true)))<a name="line.371"></a>
<FONT color="green">372</FONT>                {<a name="line.372"></a>
<FONT color="green">373</FONT>                   queue.add(cell.plusY(-1));<a name="line.373"></a>
<FONT color="green">374</FONT>                   setDistance(cell.plusY(-1), currentDistance + 1);<a name="line.374"></a>
<FONT color="green">375</FONT>                }<a name="line.375"></a>
<FONT color="green">376</FONT>             }<a name="line.376"></a>
<FONT color="green">377</FONT>    <a name="line.377"></a>
<FONT color="green">378</FONT>             //Check to see if accessible<a name="line.378"></a>
<FONT color="green">379</FONT>             if (maze.getWall(cell, Direction.South).isSet() == false)<a name="line.379"></a>
<FONT color="green">380</FONT>             { //Check to see if it should be added to queue<a name="line.380"></a>
<FONT color="green">381</FONT>                if ( ( (currentDistance + 1) &lt; getNeighborDistance(cell, Direction.South)) &amp;&amp;<a name="line.381"></a>
<FONT color="green">382</FONT>                    ( (speedy == false) || (getNeighborExplored(cell, Direction.South))))<a name="line.382"></a>
<FONT color="green">383</FONT>                {<a name="line.383"></a>
<FONT color="green">384</FONT>                   queue.add(cell.plusY(1));<a name="line.384"></a>
<FONT color="green">385</FONT>                   setDistance(cell.plusY(1), currentDistance + 1);<a name="line.385"></a>
<FONT color="green">386</FONT>                }<a name="line.386"></a>
<FONT color="green">387</FONT>             }<a name="line.387"></a>
<FONT color="green">388</FONT>    <a name="line.388"></a>
<FONT color="green">389</FONT>             //Check to see if accessible<a name="line.389"></a>
<FONT color="green">390</FONT>             if (maze.getWall(cell, Direction.West).isSet() == false)<a name="line.390"></a>
<FONT color="green">391</FONT>             { //Check to see if it should be added to queue<a name="line.391"></a>
<FONT color="green">392</FONT>                if ( ( (currentDistance + 1) &lt; getNeighborDistance(cell, Direction.West)) &amp;&amp;<a name="line.392"></a>
<FONT color="green">393</FONT>                    ( (speedy == false) || (getNeighborExplored(cell, Direction.West))))<a name="line.393"></a>
<FONT color="green">394</FONT>                {<a name="line.394"></a>
<FONT color="green">395</FONT>                   queue.add(cell.plusX(-1));<a name="line.395"></a>
<FONT color="green">396</FONT>                   setDistance(cell.plusX(-1), currentDistance + 1);<a name="line.396"></a>
<FONT color="green">397</FONT>                }<a name="line.397"></a>
<FONT color="green">398</FONT>             }<a name="line.398"></a>
<FONT color="green">399</FONT>    <a name="line.399"></a>
<FONT color="green">400</FONT>             //Check to see if accessible<a name="line.400"></a>
<FONT color="green">401</FONT>             if (maze.getWall(cell, Direction.East).isSet() == false)<a name="line.401"></a>
<FONT color="green">402</FONT>             { //Check to see if it should be added to queue<a name="line.402"></a>
<FONT color="green">403</FONT>                if ( ( (currentDistance + 1) &lt; getNeighborDistance(cell, Direction.East)) &amp;&amp;<a name="line.403"></a>
<FONT color="green">404</FONT>                    ( (speedy == false) || (getNeighborExplored(cell, Direction.East))))<a name="line.404"></a>
<FONT color="green">405</FONT>                {<a name="line.405"></a>
<FONT color="green">406</FONT>                   queue.add(cell.plusX(1));<a name="line.406"></a>
<FONT color="green">407</FONT>                   setDistance(cell.plusX(1), currentDistance + 1);<a name="line.407"></a>
<FONT color="green">408</FONT>                }<a name="line.408"></a>
<FONT color="green">409</FONT>             }<a name="line.409"></a>
<FONT color="green">410</FONT>    <a name="line.410"></a>
<FONT color="green">411</FONT>          }<a name="line.411"></a>
<FONT color="green">412</FONT>    <a name="line.412"></a>
<FONT color="green">413</FONT>          MazeCell here = robotLocation.getCurrentLocation();<a name="line.413"></a>
<FONT color="green">414</FONT>          if (getDistance(here) == USELESS)<a name="line.414"></a>
<FONT color="green">415</FONT>          {<a name="line.415"></a>
<FONT color="green">416</FONT>             //System.out.println("Purging Knowledge");<a name="line.416"></a>
<FONT color="green">417</FONT>             maze.clearMaze();<a name="line.417"></a>
<FONT color="green">418</FONT>             speedRunCapable = false;<a name="line.418"></a>
<FONT color="green">419</FONT>             for (int i = 0; i &lt; size.width; i++)<a name="line.419"></a>
<FONT color="green">420</FONT>             {<a name="line.420"></a>
<FONT color="green">421</FONT>                for (int j = 0; j &lt; size.height; j++)<a name="line.421"></a>
<FONT color="green">422</FONT>                {<a name="line.422"></a>
<FONT color="green">423</FONT>                   explored[i][j] = false;<a name="line.423"></a>
<FONT color="green">424</FONT>                }<a name="line.424"></a>
<FONT color="green">425</FONT>             }<a name="line.425"></a>
<FONT color="green">426</FONT>             explored[here.getX() - 1][here.getY() - 1] = true;<a name="line.426"></a>
<FONT color="green">427</FONT>             checkWalls();<a name="line.427"></a>
<FONT color="green">428</FONT>             floodfill();<a name="line.428"></a>
<FONT color="green">429</FONT>          }<a name="line.429"></a>
<FONT color="green">430</FONT>       }<a name="line.430"></a>
<FONT color="green">431</FONT>    <a name="line.431"></a>
<FONT color="green">432</FONT>       /**<a name="line.432"></a>
<FONT color="green">433</FONT>        * This helper function should only be called when first entering the center<a name="line.433"></a>
<FONT color="green">434</FONT>        * goal. Sets the maze knowledge of the algorithm to think that there are no<a name="line.434"></a>
<FONT color="green">435</FONT>        * other ways out of the center because according the American rules there is<a name="line.435"></a>
<FONT color="green">436</FONT>        * only one entrance/exit associated with the goal.<a name="line.436"></a>
<FONT color="green">437</FONT>        */<a name="line.437"></a>
<FONT color="green">438</FONT>       private void blockOutCenter()<a name="line.438"></a>
<FONT color="green">439</FONT>       {<a name="line.439"></a>
<FONT color="green">440</FONT>          Dimension size = maze.getSize();<a name="line.440"></a>
<FONT color="green">441</FONT>          MazeCell cell1 = new MazeCell(size.width / 2, size.height / 2);<a name="line.441"></a>
<FONT color="green">442</FONT>          MazeCell cell2 = new MazeCell(size.width / 2 + 1, size.height / 2);<a name="line.442"></a>
<FONT color="green">443</FONT>          MazeCell cell3 = new MazeCell(size.width / 2, size.height / 2 + 1);<a name="line.443"></a>
<FONT color="green">444</FONT>          MazeCell cell4 = new MazeCell(size.width / 2 + 1, size.height / 2 + 1);<a name="line.444"></a>
<FONT color="green">445</FONT>          MazeCell current = robotLocation.getCurrentLocation();<a name="line.445"></a>
<FONT color="green">446</FONT>    <a name="line.446"></a>
<FONT color="green">447</FONT>          if (cell1.equals(current) == false)<a name="line.447"></a>
<FONT color="green">448</FONT>          {<a name="line.448"></a>
<FONT color="green">449</FONT>             maze.setWall(cell1.getX(), cell1.getY(), Direction.North.getIndex());<a name="line.449"></a>
<FONT color="green">450</FONT>             maze.setWall(cell1.getX(), cell1.getY(), Direction.West.getIndex());<a name="line.450"></a>
<FONT color="green">451</FONT>          }<a name="line.451"></a>
<FONT color="green">452</FONT>          if (cell2.equals(current) == false)<a name="line.452"></a>
<FONT color="green">453</FONT>          {<a name="line.453"></a>
<FONT color="green">454</FONT>             maze.setWall(cell2.getX(), cell2.getY(), Direction.North.getIndex());<a name="line.454"></a>
<FONT color="green">455</FONT>             maze.setWall(cell2.getX(), cell2.getY(), Direction.East.getIndex());<a name="line.455"></a>
<FONT color="green">456</FONT>          }<a name="line.456"></a>
<FONT color="green">457</FONT>          if (cell3.equals(current) == false)<a name="line.457"></a>
<FONT color="green">458</FONT>          {<a name="line.458"></a>
<FONT color="green">459</FONT>             maze.setWall(cell3.getX(), cell3.getY(), Direction.South.getIndex());<a name="line.459"></a>
<FONT color="green">460</FONT>             maze.setWall(cell3.getX(), cell3.getY(), Direction.West.getIndex());<a name="line.460"></a>
<FONT color="green">461</FONT>          }<a name="line.461"></a>
<FONT color="green">462</FONT>          if (cell4.equals(current) == false)<a name="line.462"></a>
<FONT color="green">463</FONT>          {<a name="line.463"></a>
<FONT color="green">464</FONT>             maze.setWall(cell4.getX(), cell4.getY(), Direction.South.getIndex());<a name="line.464"></a>
<FONT color="green">465</FONT>             maze.setWall(cell4.getX(), cell4.getY(), Direction.East.getIndex());<a name="line.465"></a>
<FONT color="green">466</FONT>          }<a name="line.466"></a>
<FONT color="green">467</FONT>       }<a name="line.467"></a>
<FONT color="green">468</FONT>    <a name="line.468"></a>
<FONT color="green">469</FONT>       /**<a name="line.469"></a>
<FONT color="green">470</FONT>        * Returns true if the current location of the robot is its current<a name="line.470"></a>
<FONT color="green">471</FONT>        * destination.<a name="line.471"></a>
<FONT color="green">472</FONT>        */<a name="line.472"></a>
<FONT color="green">473</FONT>       private boolean atGoal()<a name="line.473"></a>
<FONT color="green">474</FONT>       {<a name="line.474"></a>
<FONT color="green">475</FONT>          MazeCell cell = robotLocation.getCurrentLocation();<a name="line.475"></a>
<FONT color="green">476</FONT>          Dimension size = maze.getSize();<a name="line.476"></a>
<FONT color="green">477</FONT>          if ( (goal == TO_START) &amp;&amp; (cell.getX() == 1) &amp;&amp; (cell.getY() == size.height))<a name="line.477"></a>
<FONT color="green">478</FONT>          {<a name="line.478"></a>
<FONT color="green">479</FONT>             return true;<a name="line.479"></a>
<FONT color="green">480</FONT>          }<a name="line.480"></a>
<FONT color="green">481</FONT>          if ( (goal == TO_CENTER) &amp;&amp;<a name="line.481"></a>
<FONT color="green">482</FONT>              ( (cell.getY() == size.height / 2) || (cell.getY() == (size.height / 2 + 1))) &amp;&amp;<a name="line.482"></a>
<FONT color="green">483</FONT>              ( (cell.getX() == size.width / 2) || (cell.getX() == (size.width / 2 + 1))))<a name="line.483"></a>
<FONT color="green">484</FONT>          {<a name="line.484"></a>
<FONT color="green">485</FONT>             return true;<a name="line.485"></a>
<FONT color="green">486</FONT>          }<a name="line.486"></a>
<FONT color="green">487</FONT>          return false;<a name="line.487"></a>
<FONT color="green">488</FONT>       }<a name="line.488"></a>
<FONT color="green">489</FONT>    <a name="line.489"></a>
<FONT color="green">490</FONT>       /**<a name="line.490"></a>
<FONT color="green">491</FONT>        * Updates the algorithm's memory of the maze based upon the walls in the<a name="line.491"></a>
<FONT color="green">492</FONT>        * current cell.<a name="line.492"></a>
<FONT color="green">493</FONT>        */<a name="line.493"></a>
<FONT color="green">494</FONT>       private void checkWalls()<a name="line.494"></a>
<FONT color="green">495</FONT>       {<a name="line.495"></a>
<FONT color="green">496</FONT>          MazeCell cell = robotLocation.getCurrentLocation();<a name="line.496"></a>
<FONT color="green">497</FONT>          Direction direction = robotLocation.getDirection();<a name="line.497"></a>
<FONT color="green">498</FONT>          if (robotLocation.isWallFront())<a name="line.498"></a>
<FONT color="green">499</FONT>          {<a name="line.499"></a>
<FONT color="green">500</FONT>             maze.setWall(cell.getX(), cell.getY(), direction.getIndex());<a name="line.500"></a>
<FONT color="green">501</FONT>          }<a name="line.501"></a>
<FONT color="green">502</FONT>          if (robotLocation.isWallLeft())<a name="line.502"></a>
<FONT color="green">503</FONT>          {<a name="line.503"></a>
<FONT color="green">504</FONT>             maze.setWall(cell.getX(), cell.getY(), direction.getLeft().getIndex());<a name="line.504"></a>
<FONT color="green">505</FONT>          }<a name="line.505"></a>
<FONT color="green">506</FONT>          if (robotLocation.isWallRight())<a name="line.506"></a>
<FONT color="green">507</FONT>          {<a name="line.507"></a>
<FONT color="green">508</FONT>             maze.setWall(cell.getX(), cell.getY(), direction.getRight().getIndex());<a name="line.508"></a>
<FONT color="green">509</FONT>          }<a name="line.509"></a>
<FONT color="green">510</FONT>          if (robotLocation.isWallBack())<a name="line.510"></a>
<FONT color="green">511</FONT>          {<a name="line.511"></a>
<FONT color="green">512</FONT>             maze.setWall(cell.getX(), cell.getY(), direction.getOpposite().getIndex());<a name="line.512"></a>
<FONT color="green">513</FONT>          }<a name="line.513"></a>
<FONT color="green">514</FONT>       }<a name="line.514"></a>
<FONT color="green">515</FONT>    <a name="line.515"></a>
<FONT color="green">516</FONT>       /**<a name="line.516"></a>
<FONT color="green">517</FONT>        * Returns the "turbo" state of the algorithm. Will be true when areas are<a name="line.517"></a>
<FONT color="green">518</FONT>        * being traversed after they have been explored before.<a name="line.518"></a>
<FONT color="green">519</FONT>        */<a name="line.519"></a>
<FONT color="green">520</FONT>       public boolean isInTurboMode()<a name="line.520"></a>
<FONT color="green">521</FONT>       {<a name="line.521"></a>
<FONT color="green">522</FONT>          return turbo;<a name="line.522"></a>
<FONT color="green">523</FONT>       }<a name="line.523"></a>
<FONT color="green">524</FONT>    <a name="line.524"></a>
<FONT color="green">525</FONT>       /**<a name="line.525"></a>
<FONT color="green">526</FONT>        * Returns the instance of how the algorithm understands the maze. For<a name="line.526"></a>
<FONT color="green">527</FONT>        * Floodfill this is an integer for each cell representing the expected<a name="line.527"></a>
<FONT color="green">528</FONT>        * distance from the center.<a name="line.528"></a>
<FONT color="green">529</FONT>        */<a name="line.529"></a>
<FONT color="green">530</FONT>       public int[][] getUnderstandingInt()<a name="line.530"></a>
<FONT color="green">531</FONT>       {<a name="line.531"></a>
<FONT color="green">532</FONT>          return distance;<a name="line.532"></a>
<FONT color="green">533</FONT>       }<a name="line.533"></a>
<FONT color="green">534</FONT>    <a name="line.534"></a>
<FONT color="green">535</FONT>       @Override<a name="line.535"></a>
<FONT color="green">536</FONT>       /**<a name="line.536"></a>
<FONT color="green">537</FONT>        * Sets the instance of the robot model to use.<a name="line.537"></a>
<FONT color="green">538</FONT>        */<a name="line.538"></a>
<FONT color="green">539</FONT>       public void setRobotLocation(RobotModel model)<a name="line.539"></a>
<FONT color="green">540</FONT>       {<a name="line.540"></a>
<FONT color="green">541</FONT>          this.robotLocation = model;<a name="line.541"></a>
<FONT color="green">542</FONT>          distance = null;<a name="line.542"></a>
<FONT color="green">543</FONT>       }<a name="line.543"></a>
<FONT color="green">544</FONT>    }<a name="line.544"></a>




























































</PRE>
</BODY>
</HTML>
